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Huzzah ! Made "runHopper" ( 1 / 21 / 26 )! #24

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Merged
rhit-halseysh merged 2 commits into from
Jan 30, 2026
Merged

Huzzah ! Made "runHopper" ( 1 / 21 / 26 )! #24

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1aec972
Huzzah ! Made "runHopper" ( 1 / 21 / 26 )!
GhostR406 Jan 22, 2026
60f54b5
Merge branch 'main' into R2-91-implement-run-hopper
rhit-halseysh Jan 30, 2026
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6 changes: 5 additions & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@

package frc.robot;

import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.Volts;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.Rotations;
Expand All @@ -30,6 +32,7 @@
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.RobotBase;
import frc.lib.W8.mechanisms.linear.LinearMechanism.LinearMechCharacteristics;
import frc.lib.W8.mechanisms.rotary.RotaryMechanism.RotaryMechCharacteristics;
Expand Down Expand Up @@ -84,7 +87,8 @@ public class HopperConstants {
public static final Distance MIN_DISTANCE = Inches.of(0.0);
public static final Distance MAX_DISTANCE = Inches.of(15.0);
public static final Distance STARTING_DISTANCE = Inches.of(0.0);
private static final Distance DRUM_RADIUS = Inches.of(2.0);
public static final Voltage VOLTAGE = Volts.of(12.0);
public static final Distance DRUM_RADIUS = Inches.of(2.0);
public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
public static final AngularVelocity ANGULAR_VELOCITY = RotationsPerSecond.of(1);
public static final AngularAcceleration ANGULAR_ACCELERATION = RotationsPerSecondPerSecond.of(1);
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24 changes: 14 additions & 10 deletions src/main/java/frc/robot/subsystems/hopper/Hopper.java
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Expand Up @@ -11,16 +11,20 @@

public class Hopper extends SubsystemBase {

private FlywheelMechanism _io;

public Hopper(FlywheelMechanism io) {
_io = io;
}

public void setGoal(double position) {
Distance positionInches = Inches.of(position);
_io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
}
private FlywheelMechanism _io;

public Hopper(FlywheelMechanism io) {
_io = io;
}

public void setGoal(double position) {
Distance positionInches = Inches.of(position);
_io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
}

public void runHopper() {
_io.runVoltage(HopperConstants.VOLTAGE);
}

@Override
public void periodic() {}
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